ONE TASK · A, B AND FOUR INSPECTIONS
One constraint tree
01 · Read the taskA₀, B₀ · p, q, r, s
02 · Plan the visitsA: p→q · B: r→s
03 · Resolve the conflictA and B at x, t=2
04 · Output the scheduleA arrives t=4 · B t=5
Replan: B cannot use x at t=2
A₀pxqAɢB₀rsBɢAB
Candidate: a shared crossingA at x, t=2 · B at x, t=2
Revised: B waits at rx: A at t=2 · B at t=3
Illustrative example · 01–02 open the map view; 03–04 open the conflict and schedule view.